Selected papers and topics

• Trajectory planning for controlled mechanical systems subject to dynamic constraints:
  
  • Pchelkin S.S., A.S. Shiriaev, U. Mettin, L.B. Freidovich, L.V. Paramonov, S.V. Gusev. "Algorithms for finding gaits of locomotive mechanisms: case studies for Gorilla robot brachiation," Autonomous Robots, 40: 849-865, 2016.
  • Pchelkin S.S., A.S. Shiriaev, L. Freidovich, U. Mettin, S. Gusev, Woong Kwon, and L. Paramonov. "A Dynamic Human Motion: Coordination Analysis," Journal of Biological Cybernetics, 109(1): 47-62, 2015.
  • Shiriaev A.S., L. Freidovich, and M.W. Spong. "Controlled invariants and trajectory planning for underactuated mechanical systems," IEEE Transactions on Automatic Control, 59(9): 2555-2561, 2014.
  • La Hera P.X., A.S. Shiriaev, L.B. Freidovich, U. Mettin and S.V. Gusev. "Stable walking gaits for three-link planar biped walker with one actuator," IEEE Transactions on Robotics, 29(3): 589-601, 2013.
  • Freidovich L.B., U. Mettin, A.S. Shiriaev, and M.W. Spong. "A Passive 2-dof walker: hunting for gaits using virtual holonomic constraints," IEEE Transactions on Robotics, vol. 25, no. 5, pp. 1202-1208, 2009.


• Transverse dynamics, numerics and orbital stabilization of motions of mechanical systems:
  
  • Pchelkin S.S, A.S. Shiriaev, A. Robertsson, L.B. Freidovich, S.A. Kolyubin, L.V. Paramonov, and S.V. Gusev. "On Orbital Stabilization for Industrial Manipulators: Case Study in Evaluating Performances of Modified PD+ and Inverse Dynamics Controllers," IEEE Transactions on Control Systems Technology, 25(1):101-117, 2017.
  • Gusev S.V., A.S. Shiriaev and L.B. Freidovich. "SDP-based approximation of stabilising solutions for periodic matrix Riccati differential equations," International Journal of Control, 89(7): 1396-1405, 2016.
  • Shiriaev A.S., L.B. Freidovich and S.V. Gusev. "Transverse linearization for controlled mechanical systems with several passive degrees of freedom," IEEE Transactions on Automatic Control, 55(4): 893-906, 2010.
  • Gusev S., S. Johansson, B. Kaagstroem, A.S. Shiriaev, and A. Varga. "Numerical evaluation of solvers for the periodic Riccati differential equation," BIT Numerical Mathematics, 50: 301-329, 2010.
  • Shiriaev A.S. and L.B. Freidovich. "Transverse linearization for impulsive mechanical systems with one passive link," IEEE Transactions on Automatic Control, 54(12): 2882-2888, 2009.


• Friction modeling and compensations:
  
  • Freidovich L.B, A. Robertsson, A.S. Shiriaev and R. Johansson. "Friction compensation based on LuGre model," IEEE Transactions on Control Systems Technology, 18(1): 194-200, 2010.
  • Robertsson A., A.S. Shiriaev and R. Johansson. "Friction Compensation for Nonlinear Systems Based on the LuGre Model," in the Proceedings of the 6th IFAC Symposium on Nonlinear Control Systems (NOLCOS), pp.1439-1444, Stuttgart, 2004.